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<a href="#pub-methods">Public Member Functions</a> &#124;
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<div class="title">PxD6JointDrive Class Reference<div class="ingroups"><a class="el" href="group__extensions.html">Extensions</a></div></div>  </div>
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<p>parameters for configuring the drive model of a <a class="el" href="classPxD6Joint.html" title="A D6 joint is a general constraint between two actors. ">PxD6Joint</a>  
 <a href="classPxD6JointDrive.html#details">More...</a></p>

<p><code>#include &lt;<a class="el" href="PxD6Joint_8h_source.html">PxD6Joint.h</a>&gt;</code></p>
<div class="dynheader">
Inheritance diagram for PxD6JointDrive:</div>
<div class="dyncontent">
<div class="center"><img src="classPxD6JointDrive__inherit__graph.png" border="0" usemap="#PxD6JointDrive_inherit__map" alt="Inheritance graph"/></div>
<map name="PxD6JointDrive_inherit__map" id="PxD6JointDrive_inherit__map">
<area shape="rect" id="node2" href="classPxSpring.html" title="PxSpring" alt="" coords="23,5,97,32"/>
</map>
<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
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Collaboration diagram for PxD6JointDrive:</div>
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<div class="center"><img src="classPxD6JointDrive__coll__graph.png" border="0" usemap="#PxD6JointDrive_coll__map" alt="Collaboration graph"/></div>
<map name="PxD6JointDrive_coll__map" id="PxD6JointDrive_coll__map">
<area shape="rect" id="node2" href="classPxSpring.html" title="PxSpring" alt="" coords="5,13,80,39"/>
<area shape="rect" id="node3" href="classPxFlags.html" title="PxFlags\&lt; PxD6JointDriveFlag\l::Enum, PxU32 \&gt;" alt="" coords="104,5,299,47"/>
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<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:afc858c65b698a54bcdbe8036de4ff82b"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxD6JointDrive.html#afc858c65b698a54bcdbe8036de4ff82b">PxD6JointDrive</a> ()</td></tr>
<tr class="memdesc:afc858c65b698a54bcdbe8036de4ff82b"><td class="mdescLeft">&#160;</td><td class="mdescRight">default constructor for <a class="el" href="classPxD6JointDrive.html" title="parameters for configuring the drive model of a PxD6Joint ">PxD6JointDrive</a>.  <a href="#afc858c65b698a54bcdbe8036de4ff82b">More...</a><br /></td></tr>
<tr class="separator:afc858c65b698a54bcdbe8036de4ff82b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a81fd6955014f2472d93db04f6362dcc4"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxD6JointDrive.html#a81fd6955014f2472d93db04f6362dcc4">PxD6JointDrive</a> (PxReal driveStiffness, PxReal driveDamping, PxReal driveForceLimit, bool isAcceleration=false)</td></tr>
<tr class="memdesc:a81fd6955014f2472d93db04f6362dcc4"><td class="mdescLeft">&#160;</td><td class="mdescRight">constructor a <a class="el" href="classPxD6JointDrive.html" title="parameters for configuring the drive model of a PxD6Joint ">PxD6JointDrive</a>.  <a href="#a81fd6955014f2472d93db04f6362dcc4">More...</a><br /></td></tr>
<tr class="separator:a81fd6955014f2472d93db04f6362dcc4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acb465eaaa09ce78a245a857c29b55464"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxD6JointDrive.html#acb465eaaa09ce78a245a857c29b55464">isValid</a> () const</td></tr>
<tr class="memdesc:acb465eaaa09ce78a245a857c29b55464"><td class="mdescLeft">&#160;</td><td class="mdescRight">returns true if the drive is valid  <a href="#acb465eaaa09ce78a245a857c29b55464">More...</a><br /></td></tr>
<tr class="separator:acb465eaaa09ce78a245a857c29b55464"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classPxSpring"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classPxSpring')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classPxSpring.html">PxSpring</a></td></tr>
<tr class="memitem:a2fe1f5d75c8b8e0c7ad9ce417c8fdebc inherit pub_methods_classPxSpring"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxSpring.html#a2fe1f5d75c8b8e0c7ad9ce417c8fdebc">PxSpring</a> (PxReal stiffness_, PxReal damping_)</td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
Public Attributes</h2></td></tr>
<tr class="memitem:a419e8a0f6bbf4cafd708e7a8279a5c83"><td class="memItemLeft" align="right" valign="top">PxReal&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxD6JointDrive.html#a419e8a0f6bbf4cafd708e7a8279a5c83">forceLimit</a></td></tr>
<tr class="memdesc:a419e8a0f6bbf4cafd708e7a8279a5c83"><td class="mdescLeft">&#160;</td><td class="mdescRight">the force limit of the drive - may be an impulse or a force depending on <a class="el" href="structPxConstraintFlag.html#a86960e99b3e80ddb9e0ab51d7afc3427a330ccf346c5056c0570dbc495007d1ce" title="limits for drive strength are forces rather than impulses ">PxConstraintFlag::eDRIVE_LIMITS_ARE_FORCES</a>  <a href="#a419e8a0f6bbf4cafd708e7a8279a5c83">More...</a><br /></td></tr>
<tr class="separator:a419e8a0f6bbf4cafd708e7a8279a5c83"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afb4c9ee49ac7713aad8aaf33646f336a"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__extensions.html#gadabf6cf5b61c51816897119d793d16b7">PxD6JointDriveFlags</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxD6JointDrive.html#afb4c9ee49ac7713aad8aaf33646f336a">flags</a></td></tr>
<tr class="memdesc:afb4c9ee49ac7713aad8aaf33646f336a"><td class="mdescLeft">&#160;</td><td class="mdescRight">the joint drive flags  <a href="#afb4c9ee49ac7713aad8aaf33646f336a">More...</a><br /></td></tr>
<tr class="separator:afb4c9ee49ac7713aad8aaf33646f336a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_attribs_classPxSpring"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classPxSpring')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="classPxSpring.html">PxSpring</a></td></tr>
<tr class="memitem:aeb7dbc850461f2bc652ca73c80e523e1 inherit pub_attribs_classPxSpring"><td class="memItemLeft" align="right" valign="top">PxReal&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxSpring.html#aeb7dbc850461f2bc652ca73c80e523e1">stiffness</a></td></tr>
<tr class="memdesc:aeb7dbc850461f2bc652ca73c80e523e1 inherit pub_attribs_classPxSpring"><td class="mdescLeft">&#160;</td><td class="mdescRight">the spring strength of the drive: that is, the force proportional to the position error  <a href="classPxSpring.html#aeb7dbc850461f2bc652ca73c80e523e1">More...</a><br /></td></tr>
<tr class="separator:aeb7dbc850461f2bc652ca73c80e523e1 inherit pub_attribs_classPxSpring"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0a87d5342df941b96ac1ad97dc3eb306 inherit pub_attribs_classPxSpring"><td class="memItemLeft" align="right" valign="top">PxReal&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxSpring.html#a0a87d5342df941b96ac1ad97dc3eb306">damping</a></td></tr>
<tr class="memdesc:a0a87d5342df941b96ac1ad97dc3eb306 inherit pub_attribs_classPxSpring"><td class="mdescLeft">&#160;</td><td class="mdescRight">the damping strength of the drive: that is, the force proportional to the velocity error  <a href="classPxSpring.html#a0a87d5342df941b96ac1ad97dc3eb306">More...</a><br /></td></tr>
<tr class="separator:a0a87d5342df941b96ac1ad97dc3eb306 inherit pub_attribs_classPxSpring"><td class="memSeparator" colspan="2">&#160;</td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>parameters for configuring the drive model of a <a class="el" href="classPxD6Joint.html" title="A D6 joint is a general constraint between two actors. ">PxD6Joint</a> </p>
<dl class="section see"><dt>See also</dt><dd><a class="el" href="classPxD6Joint.html" title="A D6 joint is a general constraint between two actors. ">PxD6Joint</a> </dd></dl>
</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
<a id="afc858c65b698a54bcdbe8036de4ff82b"></a>
<h2 class="memtitle"><span class="permalink"><a href="#afc858c65b698a54bcdbe8036de4ff82b">&#9670;&nbsp;</a></span>PxD6JointDrive() <span class="overload">[1/2]</span></h2>

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          <td class="memname">PxD6JointDrive::PxD6JointDrive </td>
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<p>default constructor for <a class="el" href="classPxD6JointDrive.html" title="parameters for configuring the drive model of a PxD6Joint ">PxD6JointDrive</a>. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a81fd6955014f2472d93db04f6362dcc4">&#9670;&nbsp;</a></span>PxD6JointDrive() <span class="overload">[2/2]</span></h2>

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          <td>(</td>
          <td class="paramtype">PxReal&#160;</td>
          <td class="paramname"><em>driveStiffness</em>, </td>
        </tr>
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          <td class="paramkey"></td>
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          <td class="paramtype">PxReal&#160;</td>
          <td class="paramname"><em>driveDamping</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">PxReal&#160;</td>
          <td class="paramname"><em>driveForceLimit</em>, </td>
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          <td class="paramkey"></td>
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          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>isAcceleration</em> = <code>false</code>&#160;</td>
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          <td>)</td>
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<p>constructor a <a class="el" href="classPxD6JointDrive.html" title="parameters for configuring the drive model of a PxD6Joint ">PxD6JointDrive</a>. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">driveStiffness</td><td>The stiffness of the drive spring. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">driveDamping</td><td>The damping of the drive spring </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">driveForceLimit</td><td>The maximum impulse or force that can be exerted by the drive </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">isAcceleration</td><td>Whether the drive is an acceleration drive or a force drive </td></tr>
  </table>
  </dd>
</dl>

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<h2 class="groupheader">Member Function Documentation</h2>
<a id="acb465eaaa09ce78a245a857c29b55464"></a>
<h2 class="memtitle"><span class="permalink"><a href="#acb465eaaa09ce78a245a857c29b55464">&#9670;&nbsp;</a></span>isValid()</h2>

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          <td class="paramname"></td><td>)</td>
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<p>returns true if the drive is valid </p>

<p class="reference">References <a class="el" href="PxConstraintDesc_8h.html#adc081240b94af5fc9f010e0583263581">damping</a>, <a class="el" href="group__foundation.html#gad6de0f4af98c5c5280b8fe695dc87318">PxIsFinite()</a>, and <a class="el" href="PxConstraintDesc_8h.html#a9cf8670b7dde57314a7d3cfc5799c277">stiffness</a>.</p>

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<h2 class="groupheader">Member Data Documentation</h2>
<a id="afb4c9ee49ac7713aad8aaf33646f336a"></a>
<h2 class="memtitle"><span class="permalink"><a href="#afb4c9ee49ac7713aad8aaf33646f336a">&#9670;&nbsp;</a></span>flags</h2>

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          <td class="memname"><a class="el" href="group__extensions.html#gadabf6cf5b61c51816897119d793d16b7">PxD6JointDriveFlags</a> PxD6JointDrive::flags</td>
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<p>the joint drive flags </p>

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<a id="a419e8a0f6bbf4cafd708e7a8279a5c83"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a419e8a0f6bbf4cafd708e7a8279a5c83">&#9670;&nbsp;</a></span>forceLimit</h2>

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<p>the force limit of the drive - may be an impulse or a force depending on <a class="el" href="structPxConstraintFlag.html#a86960e99b3e80ddb9e0ab51d7afc3427a330ccf346c5056c0570dbc495007d1ce" title="limits for drive strength are forces rather than impulses ">PxConstraintFlag::eDRIVE_LIMITS_ARE_FORCES</a> </p>

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<hr/>The documentation for this class was generated from the following file:<ul>
<li><a class="el" href="PxD6Joint_8h_source.html">PxD6Joint.h</a></li>
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